version: 66.11
glider: 195
mission: 7
dive: 9
start: 10 23 113 1 28 24
data:
$ID,195
$MISSION,7
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,10
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3047.1418
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2699
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2262
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.046516
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,231013,011836,4743.219,-12224.645,2,0.9,2,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-63.3
$GPS2,231013,012724,4743.167,-12224.667,4,1.9,4,16.3
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,0.254
$KALMAN_X,-17.0,211.4,142.1,-984.1,-87.3
$KALMAN_Y,-774.6,-329.9,-123.9,-810.4,-225.3
$MHEAD_RNG_PITCHd_Wd,353.5,2477,-17.6,-10.000,-21.21,2209
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.79,-146.6,177,2030,1347,1111,0.0,0.0,0,82,0.00,0.00,-61.25,0.000,16390,0.000,0.000,177,2031,2861,2871,2851,0,0,0,0,0,0,28.83,28.83,26.41
$GC,84,-0.79,-146.6,177,2031,2871,2851,3.4,-7.1,10,100,8.35,2.20,0.00,0.000,2308,0.203,0.039,2425,3438,2862,2880,2845,0,0,0,0,0,0,25.80,26.06,28.83
$GC,141,-0.79,-146.6,1440,3436,2858,2832,14.1,-12.9,20,149,0.00,2.15,0.00,0.000,1030,0.000,0.027,2425,2026,2863,2890,2836,0,0,0,0,0,0,28.83,26.15,28.83
$GC,212,-0.79,-146.6,2424,2026,2891,2836,23.3,-13.7,31,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2026,2863,2891,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,332,-0.79,-146.6,2424,2026,2892,2836,39.6,-13.2,43,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2026,2863,2892,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,452,-0.79,-146.6,2424,2026,2892,2836,55.9,-13.5,55,461,0.00,2.12,0.00,0.000,516,0.000,0.040,2425,640,2863,2893,2834,0,0,0,0,0,0,28.83,26.26,28.83
$GC,504,-0.79,-146.6,2424,640,2893,2835,62.4,-12.5,60,513,0.00,2.10,0.00,0.000,1030,0.000,0.033,2416,2024,2863,2893,2834,0,0,0,0,0,0,28.83,26.32,28.83
$GC,634,-0.79,-146.6,2416,2024,2894,2834,79.5,-13.4,73,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2024,2864,2894,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.79,-146.6,2416,2024,2894,2834,94.0,-11.9,85,765,0.00,2.17,0.00,0.000,260,0.000,0.044,2406,3432,2863,2894,2833,0,0,0,0,0,0,28.83,26.36,28.83
$GC,821,-0.79,-146.6,2405,3432,2894,2832,102.6,-13.2,91,831,0.10,2.12,0.00,0.000,3078,0.116,0.027,2441,2022,2863,2894,2833,0,0,0,0,0,0,26.26,26.42,28.83
$GC,952,-0.79,-146.6,2441,2021,2895,2833,117.5,-10.0,104,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2021,2863,2895,2832,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1049,begin apogee
$GC,1052,-0.23,0.0,2441,2021,2895,2832,127.1,-10.3,114,1164,0.52,0.00,107.20,0.604,10246,0.102,0.000,2621,2021,2262,2367,2157,0,0,0,0,0,0,26.33,28.83,24.69
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1166,0.79,146.6,2621,2021,2367,2157,131.0,0.0,125,1287,0.95,2.38,112.78,0.584,10500,0.063,0.042,2958,3425,1663,1803,1524,0,0,0,0,0,0,25.32,25.02,24.44
$GC,1343,0.79,146.6,2958,3424,1802,1523,117.2,13.0,142,1352,0.00,2.20,0.00,0.000,1030,0.000,0.027,2969,2030,1662,1802,1522,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1472,0.79,146.6,2968,2030,1802,1518,100.4,11.6,155,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2030,1660,1802,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,0.79,146.6,2968,2030,1802,1517,87.4,10.2,167,1601,0.00,2.17,0.00,0.000,516,0.000,0.041,2979,636,1658,1800,1517,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1627,0.79,146.6,2978,635,1799,1517,83.8,10.8,170,1634,0.00,2.17,0.00,0.000,1030,0.000,0.032,2979,2028,1658,1799,1517,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1754,0.79,146.6,2979,2028,1799,1517,68.5,11.8,183,1763,0.00,2.17,0.00,0.000,260,0.000,0.042,2979,3429,1658,1799,1517,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1808,0.79,146.6,2979,3429,1799,1517,61.3,13.8,188,1818,0.10,2.15,0.00,0.000,5126,0.129,0.027,2955,2027,1658,1799,1517,0,0,0,0,0,0,26.04,26.20,28.83
$GC,1937,0.79,147.0,2955,2027,1799,1517,47.3,10.0,201,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2027,1657,1799,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,0.79,147.0,2955,2027,1799,1517,35.2,10.1,213,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2027,1657,1799,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,0.79,148.6,2955,2027,1799,1516,23.3,9.9,225,2187,0.00,2.17,0.00,0.000,260,0.000,0.042,2955,3429,1657,1799,1516,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2220,0.79,148.6,1936,3428,1770,1513,18.6,11.0,230,2228,0.00,2.15,0.00,0.000,1030,0.000,0.028,2963,2017,1657,1799,1516,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2290,0.79,148.6,1920,2015,1768,1513,10.9,10.3,243,2298,0.00,2.15,0.00,0.000,516,0.000,0.041,2973,644,1657,1799,1516,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2379,end climb,SURFACE_DEPTH_REACHED
$STATE,2379,begin surface coast
$FINISH,-0.0,1.022550
$STATE,2396,end surface coast,CONTROL_FINISHED_OK
$STATE,2396,begin surface
$SM_CCo,2411,86.75,0.337,1,0,1240,250.21
$SM_GC,0.42,7.18,2.15,86.75,0.030,0.030,0.337,176,2036,1240,-7.75,-1.05,250.21,0,0,0,0,1,0,26.44,26.41,25.35
$IRIDIUM_FIX,4726.11,-12220.67,231013,010134
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.17
$INTERNAL_PRESSURE,8.986
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,7.0
$ALTIM_BOTTOM_PING,120.5,16.0
$24V_AH,24.4,1.345
$10V_AH,10.3,1.200
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.200,34.750,219.975,86.750,0.000,0.000,0.000,430.800,3.000,0.000,5.856,649.490,869.487,363.296,1131.718,40.879,33.228,1147.410,0.000,700.833,0.000,20.975,0.000
$DEVICE_MAMPS,203.490,43.605,604.350,337.365,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.058,347.439,565.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,17001,263
$CAP_FILE_SIZE,49982,0
$CFSIZE,2097872896,2093973504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,231013,021045,4743.401,-12224.705,2,0.9,3,16.3